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Transputers at Work: Real-Time Distributed Robot Control

Proceedings of North American Transputer Users Group Meeting, October 1990

Louis L. Whitcomb and D. E. Koditschek
Yale University
Full PDF | Penn Scholarly Commons | Web Link

       An advanced robot control system joining a GMF A-500 industrial arm with a network of Inmos Transputers is described in the context of the developing field of robotics. The robot system is used to experimentally compare conventional linear control algorithm performance with both the advanced “computer torque” inverse dynamics control algorithm and a recently developed “adaptive computed torque” algorithm.
BibTeX entry
   title          = {Transputers at Work: Real-Time Distributed Robot Control},
   author     = {L.L. Whitcomb and D.E. Koditschek},
   editor       ={D. L. Fielding"}
   booktitle  = {Transputer Research and Applications 4},
   year          = {1990},
   month      = {October},
   pages       = {107-118},

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